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dataio.cpp
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dataio.cpp
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//
// This file is used for the Reading, Writing and Displaying of Point Cloud of various formats.
// Dependent 3rd Libs: PCL (>1.7) liblas VTK
// Author: Zhen Dong , Yue Pan et al. @ WHU LIESMARS
//
#include "dataio.h"
#include "utility.h"
#include "GeoTran.h"
#include "voxelFilter.h"
#include <pcl/visualization/common/common.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <glog/logging.h>
#include <string>
#include <fstream>
#include <vector>
using namespace std;
using namespace utility;
using namespace boost::filesystem;
template <typename PointT>
bool DataIo<PointT>::readCloudFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
string extension;
extension = fileName.substr(fileName.find_last_of('.') + 1); //Get the suffix of the file;
if (!strcmp(extension.c_str(), "pcd"))
{
readPcdFile(fileName, pointCloud);
cout << "A pcd file has been imported" << endl;
}
else if (!strcmp(extension.c_str(), "las"))
{
bool global_shift_or_not=0;
cout << "Would you like to do a global shift ? 0. No 1. Yes [default 0]" << endl;
cin >> global_shift_or_not;
if (!global_shift_or_not)
{
readLasFile(fileName, pointCloud);
}
else
{
bool use_automatic_drift = 0;
cout << "Using the automatic shift or enter the global shift yourself ? "<<endl
<< "0. Read a global shift file 1.Use the automatic shift [default 0]" << endl;
cin >> use_automatic_drift;
readLasFile(fileName, pointCloud,use_automatic_drift);
}
cout << "A las file has been imported" << endl;
}
else if (!strcmp(extension.c_str(), "ply"))
{
readPlyFile(fileName, pointCloud);
cout << "A ply file has been imported" << endl;
}
else if (!strcmp(extension.c_str(), "txt"))
{
readTxtFile(fileName, pointCloud);
cout << "A txt file has been imported" << endl;
}
else
{
cout << "Undefined Point Cloud Format." << endl;
return 0;
}
}
template <typename PointT>
bool DataIo<PointT>::writeCloudFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
string extension;
extension = fileName.substr(fileName.find_last_of('.') + 1); //Get the suffix of the file;
if (!strcmp(extension.c_str(), "pcd"))
{
writePcdFile(fileName, pointCloud);
cout << "A pcd file has been exported" << endl;
}
else if (!strcmp(extension.c_str(), "las"))
{
bool global_shift_or_not = 0;
cout << "Would you like to do a global shift ? 0. No 1. Yes [default 0]" << endl;
cin >> global_shift_or_not;
if (!global_shift_or_not)
{
writeLasFile(fileName, pointCloud);
}
else
{
bool use_automatic_drift = 0;
cout << "Using the automatic shift or enter the global shift yourself ? " << endl
<< "0. Read a global shift file 1.Use the automatic shift [default 0]" << endl;
cin >> use_automatic_drift;
writeLasFile(fileName, pointCloud, use_automatic_drift);
}
cout << "A las file has been exported" << endl;
}
else if (!strcmp(extension.c_str(), "ply"))
{
writePlyFile(fileName, pointCloud);
cout << "A ply file has been exported" << endl;
}
else if (!strcmp(extension.c_str(), "txt"))
{
writeTxtFile(fileName, pointCloud);
cout << "A txt file has been exported" << endl;
}
else
{
cout << "Undefined Point Cloud Format." << endl;
return 0;
}
}
template <typename PointT>
bool DataIo<PointT>::readPcdFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
if (pcl::io::loadPCDFile<PointT>(fileName, *pointCloud) == -1)
{
PCL_ERROR("Couldn't read file\n");
return false;
}
return true;
}
template <typename PointT>
bool DataIo<PointT>::writePcdFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
if (pcl::io::savePCDFileBinary(fileName, *pointCloud) == -1)
{
PCL_ERROR("Couldn't write file\n");
return false;
}
return true;
}
template <typename PointT>
bool DataIo<PointT>::readLasFileHeader(const std::string &fileName, liblas::Header& header)
{
if (fileName.substr(fileName.rfind('.')).compare(".las"))
{
return 0;
}
else
{
std::ifstream ifs;
ifs.open(fileName, std::ios::in | std::ios::binary);
if (ifs.bad())
{
return 0;
}
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs);
header = reader.GetHeader();
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::readLasFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud) //Without translation
{
//cout << "A global translation or gravitization should be done to keep the precision of point cloud when adopting pcl to do las file point cloud processing" << endl;
if (fileName.substr(fileName.rfind('.')).compare(".las"))
{
return 0;
}
std::ifstream ifs;
ifs.open(fileName, std::ios::in | std::ios::binary);
if (ifs.bad())
{
cout << "Matched Terms are not found." << endl;
}
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs);
liblas::Header const& header = reader.GetHeader();
//Bounding box Information
double Xmin, Ymin, Zmin, Xmax, Ymax, Zmax;
Xmin = header.GetMinX();
Ymin = header.GetMinY();
Zmin = header.GetMinZ();
Xmax = header.GetMaxX();
Ymax = header.GetMaxY();
Zmax = header.GetMaxZ();
while (reader.ReadNextPoint())
{
const liblas::Point& p = reader.GetPoint();
PointT pt;
pt.x = p.GetX();
pt.y = p.GetY();
pt.z = p.GetZ();
//------------------------------------------------Assign Intensity--------------------------------------------------//
//If the Point template PointT has intensity, you can assign the intensity with any feature of the point cloud in las.
//If the Point template PointT is without intensity, you should comment the line.
//pt.intensity = p.GetIntensity();
//pt.intensity = p.GetTime();
//pt.intensity = p.GetScanAngleRank();
//pt.intensity = p.GetNumberOfReturns();
//pt.intensity = p.GetScanDirection();
//---------------------------------------------------Assign Color--------------------------------------------------//
//If the Point template PointT has RGB, you can assign the Color according to the point cloud in las.
//If the Point template PointT is without RGB, you should comment the line.
//liblas::Color lasColor;
//lasColor= p.GetColor();
//pt.r = lasColor.GetRed();
//pt.g = lasColor.GetGreen();
//pt.b = lasColor.GetBlue();
pointCloud->points.push_back(pt);
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::writeLasFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud) //Without translation
{
Bounds bound;
getCloudBound(*pointCloud, bound);
ofstream ofs;
ofs.open(fileName, std::ios::out | std::ios::binary);
if (ofs.is_open())
{
liblas::Header header;
header.SetDataFormatId(liblas::ePointFormat2);
header.SetVersionMajor(1);
header.SetVersionMinor(2);
header.SetMin(bound.min_x, bound.min_y, bound.min_z);
header.SetMax(bound.max_x, bound.max_y, bound.max_z);
header.SetOffset((bound.min_x + bound.max_x) / 2.0, (bound.min_y + bound.max_y) / 2.0, (bound.min_z + bound.max_z) / 2.0);
header.SetScale(0.01, 0.01, 0.01);
header.SetPointRecordsCount(pointCloud->points.size());
liblas::Writer writer(ofs, header);
liblas::Point pt(&header);
for (int i = 0; i < pointCloud->points.size(); i++)
{
pt.SetCoordinates(double(pointCloud->points[i].x), double(pointCloud->points[i].y), double(pointCloud->points[i].z));
//If the Point template PointT is without intensity, you should comment the line.
//pt.SetIntensity(pointCloud->points[i].intensity);
//If the Point template PointT is without RGB, you should comment the line.
//liblas::Color lasColor;
//lasColor.SetRed(pointCloud->points[i].r);
//lasColor.SetGreen(pointCloud->points[i].g);
//lasColor.SetBlue(pointCloud->points[i].b);
//pt.SetColor(lasColor);
writer.WritePoint(pt);
}
ofs.flush();
ofs.close();
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::readLasFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud, bool automatic_shift_or_not) //With translation
{
global_shift.resize(3);
//cout << "A global translation or gravitization should be done to keep the precision of point cloud when adopting pcl to do las file point cloud processing" << endl;
if (fileName.substr(fileName.rfind('.')).compare(".las"))
{
return 0;
}
std::ifstream ifs;
ifs.open(fileName, std::ios::in | std::ios::binary);
if (ifs.bad())
{
cout << "Matched Terms are not found." << endl;
}
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs);
liblas::Header const& header = reader.GetHeader();
//Bounding box Information
double Xmin, Ymin, Zmin, Xmax, Ymax, Zmax;
Xmin = header.GetMinX();
Ymin = header.GetMinY();
Zmin = header.GetMinZ();
Xmax = header.GetMaxX();
Ymax = header.GetMaxY();
Zmax = header.GetMaxZ();
if (automatic_shift_or_not)
{
// Automatic Gloabl Shift Value;
global_shift[0] = -Xmin;
global_shift[1] = -Ymin;
global_shift[2] = -Zmin;
ofstream out("GlobalShift.txt", ios::out);
out << setiosflags(ios::fixed) << setprecision(8) << global_shift[0] << endl;
out << setiosflags(ios::fixed) << setprecision(8) << global_shift[1] << endl;
out << setiosflags(ios::fixed) << setprecision(8) << global_shift[2] << endl;
out.close();
//cout << "A txt File named GlobalShift.txt is saved in current Folder" << endl;
LOG(INFO) << "A txt File named GlobalShift.txt is saved in current Folder";
}
else
{
string fileGlobalShift;
cout << "Please enter or drag in the Global Shift File" << endl
<<"Example [GlobalShift.txt] :"<<endl
<<"-366370.90"<<endl
<<"-3451297.82"<<endl
<<"-14.29"<<endl;
cin >> fileGlobalShift;
ifstream in(fileGlobalShift, ios::in);
in >> global_shift[0];
in >> global_shift[1];
in >> global_shift[2];
in.close();
}
while (reader.ReadNextPoint())
{
const liblas::Point& p = reader.GetPoint();
PointT pt;
//A translation to keep the precision
//做一个平移，否则在UTM WGS84下的点坐标太大了，会造成精度损失的. 因为las的读取点数据是double的，而pcd是float的;
pt.x = p.GetX() + global_shift[0];
pt.y = p.GetY() + global_shift[1];
pt.z = p.GetZ() + global_shift[2];
//------------------------------------------------Assign Intensity--------------------------------------------------//
//If the Point template PointT has intensity, you can assign the intensity with any feature of the point cloud in las.
//If the Point template PointT is without intensity, you should comment the line.
//pt.intensity = p.GetIntensity();
//pt.intensity = p.GetTime();
//pt.intensity = p.GetScanAngleRank();
//pt.intensity = p.GetNumberOfReturns();
//pt.intensity = p.GetScanDirection();
//---------------------------------------------------Assign Color--------------------------------------------------//
//If the Point template PointT has RGB, you can assign the Color according to the point cloud in las.
//If the Point template PointT is without RGB, you should comment the line.
//liblas::Color lasColor;
//lasColor= p.GetColor();
//pt.r = lasColor.GetRed();
//pt.g = lasColor.GetGreen();
//pt.b = lasColor.GetBlue();
pointCloud->points.push_back(pt);
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::writeLasFile(const std::string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud, bool automatic_shift_or_not) //With translation
{
global_shift.resize(3);
Bounds bound;
getCloudBound(*pointCloud, bound);
if (!automatic_shift_or_not)
{
cout << "Use default (last input) global shift or not" << endl
<< "1. Yes 0. No" << endl;
bool use_last_shift;
cin >> use_last_shift;
if (!use_last_shift)
{
string fileGlobalShift;
cout << "Please enter or drag in the Global Shift File" << endl
<< "Example [GlobalShift.txt] :" << endl
<< "-366370.90" << endl
<< "-3451297.82" << endl
<< "-14.29" << endl;
cin >> fileGlobalShift;
ifstream in(fileGlobalShift, ios::in);
in >> global_shift[0];
in >> global_shift[1];
in >> global_shift[2];
in.close();
}
}
ofstream ofs;
ofs.open(fileName, std::ios::out | std::ios::binary);
if (ofs.is_open())
{
liblas::Header header;
header.SetDataFormatId(liblas::ePointFormat2);
header.SetVersionMajor(1);
header.SetVersionMinor(2);
header.SetMin(bound.min_x - global_shift[0], bound.min_y - global_shift[1], bound.min_z - global_shift[2]);
header.SetMax(bound.max_x - global_shift[0], bound.max_y - global_shift[1], bound.max_z - global_shift[2]);
header.SetOffset((bound.min_x + bound.max_x) / 2.0 - global_shift[0], (bound.min_y + bound.max_y) / 2.0 - global_shift[1], (bound.min_z + bound.max_z) / 2.0 - global_shift[2]);
header.SetScale(0.01, 0.01, 0.01);
header.SetPointRecordsCount(pointCloud->points.size());
liblas::Writer writer(ofs, header);
liblas::Point pt(&header);
for (size_t i = 0; i < pointCloud->points.size(); i++)
{
pt.SetCoordinates(double(pointCloud->points[i].x) - global_shift[0], double(pointCloud->points[i].y) - global_shift[1], double(pointCloud->points[i].z) - global_shift[2]);
//If the Point template PointT is without intensity, you should comment the line.
//pt.SetIntensity(pointCloud->points[i].intensity);
//If the Point template PointT is without RGB, you should comment the line.
//liblas::Color lasColor;
//lasColor.SetRed(pointCloud->points[i].r);
//lasColor.SetGreen(pointCloud->points[i].g);
//lasColor.SetBlue(pointCloud->points[i].b);
//pt.SetColor(lasColor);
writer.WritePoint(pt);
}
ofs.flush();
ofs.close();
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::readLasFileLast(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
if (fileName.substr(fileName.rfind('.')).compare(".las"))
{
return 0;
}
std::ifstream ifs;
ifs.open(fileName, std::ios::in | std::ios::binary);
if (ifs.bad())
{
cout << "Matched Terms are not found." << endl;
}
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs);
liblas::Header const& header = reader.GetHeader();
while (reader.ReadNextPoint())
{
const liblas::Point& p = reader.GetPoint();
PointT pt;
//A translation to keep the precision
//做一个平移，否则在UTM WGS84下的点坐标太大了，会造成精度损失的. 因为las的读取点数据是double的，而pcd是float的;
pt.x = p.GetX() + global_shift[0];
pt.y = p.GetY() + global_shift[1];
pt.z = p.GetZ() + global_shift[2];
//------------------------------------------------Assign Intensity--------------------------------------------------//
//If the Point template PointT has intensity, you can assign the intensity with any feature of the point cloud in las.
//If the Point template PointT is without intensity, you should comment the line.
//pt.intensity = p.GetIntensity();
//pt.intensity = p.GetTime();
//pt.intensity = p.GetScanAngleRank();
//pt.intensity = p.GetNumberOfReturns();
//pt.intensity = p.GetScanDirection();
//---------------------------------------------------Assign Color--------------------------------------------------//
//If the Point template PointT has RGB, you can assign the Color according to the point cloud in las.
//If the Point template PointT is without RGB, you should comment the line.
//liblas::Color lasColor;
//lasColor= p.GetColor();
//pt.r = lasColor.GetRed();
//pt.g = lasColor.GetGreen();
//pt.b = lasColor.GetBlue();
pointCloud->points.push_back(pt);
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::readPlyFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
if (pcl::io::loadPLYFile<PointT>(fileName, *pointCloud) == -1) //* load the file
{
PCL_ERROR("Couldn't read file \n");
return (-1);
}
}
template <typename PointT>
bool DataIo<PointT>::writePlyFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
if (pcl::io::savePLYFile<PointT>(fileName, *pointCloud) == -1) //* load the file
{
PCL_ERROR("Couldn't write file \n");
return (-1);
}
}
template <typename PointT>
bool DataIo<PointT>::batchReadFileNamesInFolders(const std::string &folderName, const std::string & extension, std::vector<std::string> &fileNames)
{
if (!exists(folderName))
{
return 0;
}
else
{
directory_iterator end_iter;
for (directory_iterator iter(folderName); iter != end_iter; ++iter)
{
if (is_regular_file(iter->status()))
{
string fileName;
fileName = iter->path().string();
path dir(fileName);
if (!dir.extension().string().empty())
{
if (!fileName.substr(fileName.rfind('.')).compare(extension))
{
fileNames.push_back(fileName);
}
}
}
}
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::batchReadFileNamesInFoldersAndSubFolders(const std::string &folderName, const std::string & extension, std::vector<std::string> &fileNames)
{
boost::filesystem::path fullpath(folderName);
if (!exists(fullpath))
{
return false;
}
recursive_directory_iterator end_iter;
for (recursive_directory_iterator iter(fullpath); iter != end_iter; iter++)
{
try
{
if (is_directory(*iter))
{
}
else
{
std::string sFileName = iter->path().string();
path dir(sFileName);
if (!dir.extension().string().empty())
{
if (!sFileName.substr(sFileName.rfind('.')).compare(extension))
{
fileNames.push_back(sFileName);
}
}
}
}
catch (const std::exception & ex)
{
std::cerr << ex.what() << std::endl;
continue;
}
}
return true;
}
template <typename PointT>
bool DataIo<PointT>::batchReadFileNamesInSubFolders(const std::string &folderName, const std::string & extension, std::vector<std::vector<std::string>> &fileNames)
{
int subfolder_num = 0;
if (!exists(folderName))
{
return 0;
}
else
{
directory_iterator end_iter;
for (directory_iterator iter(folderName); iter != end_iter; ++iter)
{
if (is_directory(iter->status()))
{
string subfoldername;
subfoldername = iter->path().string();
std::vector<std::string> fileNames_in_subfolder;
batchReadFileNamesInFolders(subfoldername, extension, fileNames_in_subfolder);
fileNames.push_back(fileNames_in_subfolder);
subfolder_num++;
}
}
}
//cout << subfolder_num << " Sub-folders in the folder have been processed" << endl;
return 1;
}
template <typename PointT>
void DataIo<PointT>::batchReadMultiSourceFileNamesInDataFolders(const std::string &ALS_folder, const std::string &TLS_folder, const std::string &MLS_folder, const std::string &BPLS_folder,
std::vector<std::vector<std::string>> &ALS_strip_files, std::vector<std::string> &TLS_files, std::vector<std::string> &MLS_files, std::vector<std::string> &BPLS_files)
{
batchReadFileNamesInSubFolders(ALS_folder, ".las", ALS_strip_files);
batchReadFileNamesInFolders(TLS_folder, ".las", TLS_files);
batchReadFileNamesInFolders(MLS_folder, ".las", MLS_files);
batchReadFileNamesInFolders(BPLS_folder, ".las", BPLS_files);
LOG(INFO) << "All Filenames have been imported ...";
}
template <typename PointT>
bool DataIo<PointT>::readTxtFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
ifstream in(fileName, ios::in);
if (!in)
{
return 0;
}
double x_ = 0, y_ = 0, z_ = 0;
int i = 0;
while (!in.eof())
{
in >> x_ >> y_ >> z_;
if (in.fail())
{
break;
}
PointT Pt;
Pt.x = x_;
Pt.y = y_;
Pt.z = z_;
pointCloud->points.push_back(Pt);
++i;
}
in.close();
//cout << "Import finished ... ..." << endl;
return 1;
}
template <typename PointT>
bool DataIo<PointT>::writeTxtFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud)
{
ofstream ofs;
ofs.open(fileName);
if (ofs.is_open())
{
for (size_t i = 0; i < pointCloud->size(); ++i)
{
ofs << setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].x << " "
<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].y << " "
<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].z
//<<" "<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].intensity
<< endl;
}
ofs.close();
}
else{ return 0; }
//cout << "Output finished ... ..." << endl;
return 1;
}
template <typename PointT>
bool DataIo<PointT>::writeTxtFile(const string &fileName, const typename pcl::PointCloud<PointT>::Ptr &pointCloud, int subsample_ratio)
{
ofstream ofs;
ofs.open(fileName);
if (ofs.is_open())
{
for (size_t i = 0; i < pointCloud->size(); ++i)
{
if (i % subsample_ratio == 0)//Subsampling;
{
ofs << setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].x << " "
<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].y << " "
<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].z
//<<" "<< setiosflags(ios::fixed) << setprecision(5) << pointCloud->points[i].intensity
<< endl;
}
}
ofs.close();
}
else{ return 0; }
//cout << "Output finished ... ..." << endl;
return 1;
}
template <typename PointT>
void DataIo<PointT>::display(const typename pcl::PointCloud<PointT>::Ptr &Cloud1, const typename pcl::PointCloud<PointT>::Ptr &Cloud2, string displayname)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer(displayname));
viewer->setBackgroundColor(255, 255, 255);
char t[256];
string s;
int n = 0;
pcXYZRGBPtr pointcloud1(new pcXYZRGB());
pcXYZRGBPtr pointcloud2(new pcXYZRGB());
for (size_t i = 0; i < Cloud1->points.size(); ++i)
{
pcl::PointXYZRGB pt;
pt.x = Cloud1->points[i].x;
pt.y = Cloud1->points[i].y;
pt.z = Cloud1->points[i].z;
pt.r = 255;
pt.g = 215;
pt.b = 0;
pointcloud1->points.push_back(pt);
} // Golden
viewer->addPointCloud(pointcloud1, "pointcloudT");
for (size_t i = 0; i < Cloud2->points.size(); ++i)
{
pcl::PointXYZRGB pt;
pt.x = Cloud2->points[i].x;
pt.y = Cloud2->points[i].y;
pt.z = Cloud2->points[i].z;
pt.r = 233;
pt.g = 233;
pt.b = 216;
pointcloud2->points.push_back(pt);
} // Silver
viewer->addPointCloud(pointcloud2, "pointcloudS");
cout << "Click X(close) to continue..." << endl;
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
template <typename PointT>
void DataIo<PointT>::displaymulti(const typename pcl::PointCloud<PointT>::Ptr &Cloud0, const typename pcl::PointCloud<PointT>::Ptr &Cloud1, const typename pcl::PointCloud<PointT>::Ptr &Cloud2, string displayname)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer(displayname));
viewer->setBackgroundColor(255, 255, 255);
char t[256];
string s;
int n = 0;
pcXYZRGBPtr pointcloud0(new pcXYZRGB());
pcXYZRGBPtr pointcloud1(new pcXYZRGB());
pcXYZRGBPtr pointcloud2(new pcXYZRGB());
for (size_t i = 0; i < Cloud0->points.size(); ++i)
{
pcl::PointXYZRGB pt;
pt.x = Cloud0->points[i].x;
pt.y = Cloud0->points[i].y;
pt.z = Cloud0->points[i].z;
pt.r = 255;
pt.g = 0;
pt.b = 0;
pointcloud0->points.push_back(pt);
} // Red
viewer->addPointCloud(pointcloud0, "pointcloud_reference");
for (size_t i = 0; i < Cloud1->points.size(); ++i)
{
pcl::PointXYZRGB pt;
pt.x = Cloud1->points[i].x;
pt.y = Cloud1->points[i].y;
pt.z = Cloud1->points[i].z;
pt.r = 0;
pt.g = 0;
pt.b = 255;
pointcloud1->points.push_back(pt);
} // Blue
viewer->addPointCloud(pointcloud1, "pointcloud_reg_method1");
for (size_t i = 0; i < Cloud2->points.size(); ++i)
{
pcl::PointXYZRGB pt;
pt.x = Cloud2->points[i].x;
pt.y = Cloud2->points[i].y;
pt.z = Cloud2->points[i].z;
pt.r = 0;
pt.g = 255;
pt.b = 0;
pointcloud2->points.push_back(pt);
} // Green
viewer->addPointCloud(pointcloud2, "pointcloud_reg_method2");
cout << "Click X(close) to continue..." << endl;
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
template <typename PointT>
void DataIo<PointT>::ALS_block_by_time(const typename pcl::PointCloud<PointT>::Ptr &pointCloud, typename vector<pcl::PointCloud<PointT>> &CloudBlocks, float time_step_in_second)
{
float time_max = -FLT_MAX;
float time_min = FLT_MAX;
float time_range;
for (size_t i = 0; i < pointCloud->size(); i++)
{
if (pointCloud->points[i].intensity > time_max) time_max = pointCloud->points[i].intensity;
if (pointCloud->points[i].intensity < time_min) time_min = pointCloud->points[i].intensity;
}
time_range = time_max - time_min;
CloudBlocks.resize(int(time_range / time_step_in_second) + 1);
for (size_t i = 0; i < pointCloud->size(); i++)
{
int index = int(1.0 * (pointCloud->points[i].intensity - time_min) / time_step_in_second);
CloudBlocks[index].push_back(pointCloud->points[i]);
}
}
template <typename PointT>
bool DataIo<PointT>::batchWriteBlockInColor(const string &fileName, typename vector<pcl::PointCloud<PointT>> &CloudBlocks, bool automatic_shift_or_not)
{
global_shift.resize(3);
if (!automatic_shift_or_not)
{
string fileGlobalShift;
cout << "Please enter or drag in the Global Shift File" << endl
<< "Example [GlobalShift.txt] :" << endl
<< "-366370.90" << endl
<< "-3451297.82" << endl
<< "-14.29" << endl;
cin >> fileGlobalShift;
ifstream in(fileGlobalShift, ios::in);
in >> global_shift[0];
in >> global_shift[1];
in >> global_shift[2];
in.close();
}
for (int j = 0; j < CloudBlocks.size(); j++)
{
Bounds bound;
getCloudBound(CloudBlocks[j], bound);
liblas::Color lasColor;
lasColor.SetRed(255 * (rand() / (1.0 + RAND_MAX)));
lasColor.SetGreen(255 * (rand() / (1.0 + RAND_MAX)));
lasColor.SetBlue(255 * (rand() / (1.0 + RAND_MAX)));
string BlockFolder, BlockFilename;
ostringstream oss;
oss.setf(ios::right); //设置对齐方式为右对齐
oss.fill('0'); //设置填充方式,不足位补0
oss.width(3); //设置宽度为2，只对下条输出有用
oss << j;
// 此处存疑，按000，001，002这样的顺序命名;
BlockFolder = fileName.substr(0, fileName.rfind("."));
if (!boost::filesystem::exists(BlockFolder))
{
boost::filesystem::create_directory(BlockFolder);
}
BlockFilename = BlockFolder + fileName.substr(fileName.rfind("\\"), fileName.rfind(".") - fileName.rfind("\\"))+ "_" + oss.str() + ".las";
if (j == 0) cout << BlockFilename << endl;
ofstream ofs;
ofs.open(BlockFilename, std::ios::out | std::ios::binary);
if (ofs.is_open())
{
liblas::Header header;
header.SetDataFormatId(liblas::ePointFormat2);
header.SetVersionMajor(1);
header.SetVersionMinor(2);
header.SetMin(bound.min_x - global_shift[0], bound.min_y - global_shift[1], bound.min_z - global_shift[2]);
header.SetMax(bound.max_x - global_shift[0], bound.max_y - global_shift[1], bound.max_z - global_shift[2]);
header.SetOffset((bound.min_x + bound.max_x) / 2.0 - global_shift[0], (bound.min_y + bound.max_y) / 2.0 - global_shift[1], (bound.min_z + bound.max_z) / 2.0 - global_shift[2]);
header.SetScale(0.01, 0.01, 0.01);
header.SetPointRecordsCount(CloudBlocks[j].points.size());
liblas::Writer writer(ofs, header);
liblas::Point pt(&header);
for (size_t i = 0; i < CloudBlocks[j].points.size(); i++)
{
pt.SetCoordinates(double(CloudBlocks[j].points[i].x) - global_shift[0], double(CloudBlocks[j].points[i].y) - global_shift[1], double(CloudBlocks[j].points[i].z) - global_shift[2]);
pt.SetColor(lasColor);
pt.SetIntensity(CloudBlocks[j].points[i].intensity);
writer.WritePoint(pt);
}
ofs.flush();
ofs.close();
}
}
return 1;
}
template <typename PointT>
bool DataIo<PointT>::readindiceslist(std::vector<int> & indicesA, std::vector<int> & indicesB)
{
string indiceslistFile;
cout << "Please enter or drag in the Correspondence Tie Point Indices List File" << endl
<< "Example [IndicesListFile.txt] :" << endl
<< "107562 934051 " << endl
<< "275003 18204" << endl
<< "872055 462058" << endl
<< "... ..." << endl;
cin >> indiceslistFile;
ifstream in(indiceslistFile, ios::in);
if (!in)
{
return 0;
}
int i = 0;
while (!in.eof())
{
int p1, p2;
in >> p1 >> p2;
if (in.fail())
{
break;
}
indicesA.push_back(p1);
indicesB.push_back(p2);
++i;
}
in.close();
}
template <typename PointT>
bool DataIo<PointT>::readindiceslist(const typename pcl::PointCloud<PointT>::Ptr &CloudA, const typename pcl::PointCloud<PointT>::Ptr &CloudB, std::vector <std::vector<double>> & coordinatesA, std::vector <std::vector<double>> & coordinatesB)
{
string indiceslistFile;
cout << "Please enter or drag in the Correspondence Tie Point Indices List File" << endl
<< "Example [IndicesListFile.txt] :" << endl
<< "107562 934051 " << endl
<< "275003 18204" << endl
<< "872055 462058" << endl
<< "... ..." << endl;
cin >> indiceslistFile;
ifstream in(indiceslistFile, ios::in);
if (!in)
{
return 0;
}
vector<int> pointlistA;
vector<int> pointlistB;
int i = 0;
while (!in.eof())
{
int p1, p2;
in >> p1 >> p2;
if (in.fail())
{
break;
}
pointlistA.push_back(p1);
pointlistB.push_back(p2);
++i;
}
in.close();
for (int j = 0; j < pointlistA.size(); j++)
{
std::vector<double> pointA(3);
pointA[0] = CloudA->points[pointlistA[j]].x;